pkav Posted October 26, 2016 Report Share Posted October 26, 2016 Hello everyone. I need a sensor to measure Yaw angle. I'm not very familiar with Arduino, my project is built on STM32 MCU. I bought an Arduino Uno and a GY-521 to evaluate the MPU-6050. The teapot demo works really great, the "OUTPUT_READABLE_YAWPITCHROLL" setting also works The problem is that my PCB will be installed vertically, so MPU's vertical axis will be Y, not Z. And when I set GY-521 vertical and try to rotate it in yaw plane, the "OUTPUT_READABLE_YAWPITCHROLL" setting shows complete mess, no Yaw values shown in any of three fields. I suppose I need to change something in the calculation formulas, but which one? P. S. Sorry for my poor English Quote Link to comment Share on other sites More sharing options...
pkav Posted November 1, 2016 Author Report Share Posted November 1, 2016 I ported the initialization and calculation routines to my STM32, works well, but the problem still unresolved. I tried swapping Y and Z axis in the dmpGetYawPitchRoll function, but seems that the output was not changed at all. There is something to do with quaternions, but I am not so good at math and geometry. Hope someone could help me with these formulas. Quote Link to comment Share on other sites More sharing options...
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